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#include <benchmark/benchmark.h>
#include <urdf_parser/urdf_parser.h>

#include <string>

#include "urdf/model.h"

const char test_xml[] =
  "<?xml verison=\"1.0\"?>"
  "<robot name=\"benchy_bot\">"
  "  <link name=\"link1\">"
  "    <inertial>"
  "      <mass value=\"1\"/>"
  "      <inertia ixx=\"1\" iyy=\"1\" izz=\"1\" ixy=\"0\" ixz=\"0\" iyz=\"0\"/>"
  "    </inertial>"
  "    <visual>"
  "      <geometry>"
  "        <box size=\"1 1 1\"/>"
  "      </geometry>"
  "    </visual>"
  "    <collision>"
  "      <geometry>"
  "        <box size=\"1 1 1\"/>"
  "      </geometry>"
  "    </collision>"
  "  </link>"
  "</robot>";

static void BM_no_plugin(benchmark::State & state)
{
  for (auto _ : state) {
    if (nullptr == urdf::parseURDF(test_xml)) {
      state.SkipWithError("Failed to read xml");
      break;
    }
  }
}

static void BM_with_plugin(benchmark::State & state)
{
  for (auto _ : state) {
    urdf::Model m;
    if (!m.initString(test_xml)) {
      state.SkipWithError("Failed to read xml");
      break;
    }
  }
}

BENCHMARK(BM_no_plugin);
BENCHMARK(BM_with_plugin);

BENCHMARK_MAIN();
